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<li class="navelem"><a href="dir_0c97d201d54b8b5817233953fc3aadb6.html">STM32CubeIDEWorkspace</a></li><li class="navelem"><a href="dir_f3310f12da31771255acec658cd4246d.html">noRTOS</a></li><li class="navelem"><a href="dir_8022218a35d1971722714ae72b00e870.html">PID_Study</a></li><li class="navelem"><a href="dir_17bc370c857333bc4166d76f67bb735c.html">Drivers</a></li><li class="navelem"><a href="dir_e69a281451c2b8e1f92d152816da16da.html">Algorithm</a></li><li class="navelem"><a href="dir_523ce4da4ce685833be18ad12c7a2270.html">Src</a></li>  </ul>
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<a href="#func-members">函数</a>  </div>
  <div class="headertitle"><div class="title">pid.c 文件参考</div></div>
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<p><a class="el" href="struct_p_i_d.html" title="Main PID controller structure">PID</a> controller implementation (positional and incremental forms)  
<a href="#details">更多...</a></p>
<div class="textblock"><code>#include &lt;<a class="el" href="pid_8h_source.html">pid.h</a>&gt;</code><br />
<code>#include &lt;stdlib.h&gt;</code><br />
<code>#include &quot;math.h&quot;</code><br />
</div><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 id="header-func-members" class="groupheader"><a id="func-members" name="func-members"></a>
函数</h2></td></tr>
<tr class="memitem:a0f8187ea607fc1553a4955eaeaab92f6" id="r_a0f8187ea607fc1553a4955eaeaab92f6"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a0f8187ea607fc1553a4955eaeaab92f6">PID_Parameter_Set</a> (<a class="el" href="struct_p_i_d.html">PID</a> *pid, float kp, float ki, float kd)</td></tr>
<tr class="memdesc:a0f8187ea607fc1553a4955eaeaab92f6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set <a class="el" href="struct_p_i_d.html" title="Main PID controller structure">PID</a> parameters (Kp, Ki, Kd)  <br /></td></tr>
<tr class="memitem:a6e747b3297150c5ee417b6164a837c90" id="r_a6e747b3297150c5ee417b6164a837c90"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a6e747b3297150c5ee417b6164a837c90">PID_Init</a> (<a class="el" href="struct_p_i_d.html">PID</a> *pid, float kp, float ki, float kd, float output_offset, float output_upper_limit, float parameter_filter_for_D, float error_tolerance_range, <a class="el" href="pid_8h.html#a627e3fb87dec0be34a713dd02143e0ae">Pid_Control</a> pidControl, <a class="el" href="pid_8h.html#aa296db43b5b2801baa50c80aeda1dbc5">Pid_Gearshift_Integral</a> pidGearshiftIntegral)</td></tr>
<tr class="memdesc:a6e747b3297150c5ee417b6164a837c90"><td class="mdescLeft">&#160;</td><td class="mdescRight">Initialize <a class="el" href="struct_p_i_d.html" title="Main PID controller structure">PID</a> controller with all parameters  <br /></td></tr>
<tr class="memitem:aa3fdc3d1dbfd04b47480ba94435e3b43" id="r_aa3fdc3d1dbfd04b47480ba94435e3b43"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#aa3fdc3d1dbfd04b47480ba94435e3b43">PID_Target_Set</a> (<a class="el" href="struct_p_i_d.html">PID</a> *pid, float target)</td></tr>
<tr class="memdesc:aa3fdc3d1dbfd04b47480ba94435e3b43"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set target value for <a class="el" href="struct_p_i_d.html" title="Main PID controller structure">PID</a> controller  <br /></td></tr>
<tr class="memitem:aee0c7e9b4314105045e35d8cbce24401" id="r_aee0c7e9b4314105045e35d8cbce24401"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#aee0c7e9b4314105045e35d8cbce24401">PID_Target_Get</a> (<a class="el" href="struct_p_i_d.html">PID</a> pid)</td></tr>
<tr class="memdesc:aee0c7e9b4314105045e35d8cbce24401"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get current target value from <a class="el" href="struct_p_i_d.html" title="Main PID controller structure">PID</a> controller  <br /></td></tr>
<tr class="memitem:acac180b4e5e5ed6147bd0b3a61423b96" id="r_acac180b4e5e5ed6147bd0b3a61423b96"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#acac180b4e5e5ed6147bd0b3a61423b96">PID_Output_Get</a> (<a class="el" href="struct_p_i_d.html">PID</a> pid)</td></tr>
<tr class="memdesc:acac180b4e5e5ed6147bd0b3a61423b96"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get current output value from <a class="el" href="struct_p_i_d.html" title="Main PID controller structure">PID</a> controller  <br /></td></tr>
<tr class="memitem:a17d347eed7455c0911b5bc1f01261841" id="r_a17d347eed7455c0911b5bc1f01261841"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a17d347eed7455c0911b5bc1f01261841">PID_Regulation_Position</a> (<a class="el" href="struct_p_i_d.html">PID</a> *pid, float actual)</td></tr>
<tr class="memdesc:a17d347eed7455c0911b5bc1f01261841"><td class="mdescLeft">&#160;</td><td class="mdescRight">Execute positional <a class="el" href="struct_p_i_d.html" title="Main PID controller structure">PID</a> regulation  <br /></td></tr>
<tr class="memitem:a01bc0b228b9cbd07d26ce2e440462fb6" id="r_a01bc0b228b9cbd07d26ce2e440462fb6"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a01bc0b228b9cbd07d26ce2e440462fb6">PID_Regulation_Incremental</a> (<a class="el" href="struct_p_i_d.html">PID</a> *pid, float actual)</td></tr>
<tr class="memdesc:a01bc0b228b9cbd07d26ce2e440462fb6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Execute incremental <a class="el" href="struct_p_i_d.html" title="Main PID controller structure">PID</a> regulation  <br /></td></tr>
</table>
<a name="details" id="details"></a><h2 id="header-details" class="groupheader">详细描述</h2>
<div class="textblock"><p><a class="el" href="struct_p_i_d.html" title="Main PID controller structure">PID</a> controller implementation (positional and incremental forms) </p>
<dl class="section author"><dt>作者</dt><dd>废话文学创始人 </dd></dl>
<dl class="section version"><dt>版本</dt><dd>v1.0 </dd></dl>
<dl class="section date"><dt>日期</dt><dd>2024-07-14 </dd></dl>
<dl class="section note"><dt>注解</dt><dd>Supports positional <a class="el" href="struct_p_i_d.html" title="Main PID controller structure">PID</a> and incremental <a class="el" href="struct_p_i_d.html" title="Main PID controller structure">PID</a> with various enhancements </dd></dl>
</div><a name="doc-func-members" id="doc-func-members"></a><h2 id="header-doc-func-members" class="groupheader">函数说明</h2>
<a id="a6e747b3297150c5ee417b6164a837c90" name="a6e747b3297150c5ee417b6164a837c90"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a6e747b3297150c5ee417b6164a837c90">&#9670;&#160;</a></span>PID_Init()</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void PID_Init </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="struct_p_i_d.html">PID</a> *</td>          <td class="paramname"><span class="paramname"><em>pid</em></span>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>kp</em></span>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>ki</em></span>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>kd</em></span>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>output_offset</em></span>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>output_upper_limit</em></span>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>parameter_filter_for_D</em></span>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>error_tolerance_range</em></span>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="pid_8h.html#a627e3fb87dec0be34a713dd02143e0ae">Pid_Control</a></td>          <td class="paramname"><span class="paramname"><em>pidControl</em></span>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="pid_8h.html#aa296db43b5b2801baa50c80aeda1dbc5">Pid_Gearshift_Integral</a></td>          <td class="paramname"><span class="paramname"><em>pidGearshiftIntegral</em></span>&#160;)</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Initialize <a class="el" href="struct_p_i_d.html" title="Main PID controller structure">PID</a> controller with all parameters </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in,out]</td><td class="paramname">pid</td><td>Pointer to <a class="el" href="struct_p_i_d.html" title="Main PID controller structure">PID</a> controller instance </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">kp</td><td>Proportional gain </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">ki</td><td>Integral gain </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">kd</td><td>Derivative gain </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">output_offset</td><td>Output offset for friction compensation </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">output_upper_limit</td><td>Maximum output limit </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">parameter_filter_for_D</td><td>Derivative filter parameter </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">error_tolerance_range</td><td>Error filtering threshold </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">pidControl</td><td>Callback function for actual control output </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">pidGearshiftIntegral</td><td>Callback function for variable integral gain (NULL if not used) </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<a id="acac180b4e5e5ed6147bd0b3a61423b96" name="acac180b4e5e5ed6147bd0b3a61423b96"></a>
<h2 class="memtitle"><span class="permalink"><a href="#acac180b4e5e5ed6147bd0b3a61423b96">&#9670;&#160;</a></span>PID_Output_Get()</h2>

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<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">float PID_Output_Get </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="struct_p_i_d.html">PID</a></td>          <td class="paramname"><span class="paramname"><em>pid</em></span></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Get current output value from <a class="el" href="struct_p_i_d.html" title="Main PID controller structure">PID</a> controller </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">pid</td><td><a class="el" href="struct_p_i_d.html" title="Main PID controller structure">PID</a> controller instance </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>Current output value </dd></dl>

</div>
</div>
<a id="a0f8187ea607fc1553a4955eaeaab92f6" name="a0f8187ea607fc1553a4955eaeaab92f6"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a0f8187ea607fc1553a4955eaeaab92f6">&#9670;&#160;</a></span>PID_Parameter_Set()</h2>

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<div class="memproto">
      <table class="memname">
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          <td class="memname">void PID_Parameter_Set </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="struct_p_i_d.html">PID</a> *</td>          <td class="paramname"><span class="paramname"><em>pid</em></span>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>kp</em></span>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>ki</em></span>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>kd</em></span>&#160;)</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Set <a class="el" href="struct_p_i_d.html" title="Main PID controller structure">PID</a> parameters (Kp, Ki, Kd) </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in,out]</td><td class="paramname">pid</td><td>Pointer to <a class="el" href="struct_p_i_d.html" title="Main PID controller structure">PID</a> controller instance </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">kp</td><td>Proportional gain </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">ki</td><td>Integral gain </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">kd</td><td>Derivative gain </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<a id="a01bc0b228b9cbd07d26ce2e440462fb6" name="a01bc0b228b9cbd07d26ce2e440462fb6"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a01bc0b228b9cbd07d26ce2e440462fb6">&#9670;&#160;</a></span>PID_Regulation_Incremental()</h2>

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<div class="memproto">
      <table class="memname">
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          <td class="memname">void PID_Regulation_Incremental </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="struct_p_i_d.html">PID</a> *</td>          <td class="paramname"><span class="paramname"><em>pid</em></span>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>actual</em></span>&#160;)</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Execute incremental <a class="el" href="struct_p_i_d.html" title="Main PID controller structure">PID</a> regulation </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in,out]</td><td class="paramname">pid</td><td>Pointer to <a class="el" href="struct_p_i_d.html" title="Main PID controller structure">PID</a> controller instance </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">actual</td><td>Current measured value </td></tr>
  </table>
  </dd>
</dl>
<dl class="section note"><dt>注解</dt><dd>Should be called at regular intervals (millisecond level) </dd></dl>

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<a id="a17d347eed7455c0911b5bc1f01261841" name="a17d347eed7455c0911b5bc1f01261841"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a17d347eed7455c0911b5bc1f01261841">&#9670;&#160;</a></span>PID_Regulation_Position()</h2>

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      <table class="memname">
        <tr>
          <td class="memname">void PID_Regulation_Position </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="struct_p_i_d.html">PID</a> *</td>          <td class="paramname"><span class="paramname"><em>pid</em></span>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>actual</em></span>&#160;)</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Execute positional <a class="el" href="struct_p_i_d.html" title="Main PID controller structure">PID</a> regulation </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in,out]</td><td class="paramname">pid</td><td>Pointer to <a class="el" href="struct_p_i_d.html" title="Main PID controller structure">PID</a> controller instance </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">actual</td><td>Current measured value </td></tr>
  </table>
  </dd>
</dl>
<dl class="section note"><dt>注解</dt><dd>Should be called at regular intervals (millisecond level) </dd></dl>

</div>
</div>
<a id="aee0c7e9b4314105045e35d8cbce24401" name="aee0c7e9b4314105045e35d8cbce24401"></a>
<h2 class="memtitle"><span class="permalink"><a href="#aee0c7e9b4314105045e35d8cbce24401">&#9670;&#160;</a></span>PID_Target_Get()</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">float PID_Target_Get </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="struct_p_i_d.html">PID</a></td>          <td class="paramname"><span class="paramname"><em>pid</em></span></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Get current target value from <a class="el" href="struct_p_i_d.html" title="Main PID controller structure">PID</a> controller </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">pid</td><td><a class="el" href="struct_p_i_d.html" title="Main PID controller structure">PID</a> controller instance </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>Current target value </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#aa3fdc3d1dbfd04b47480ba94435e3b43">&#9670;&#160;</a></span>PID_Target_Set()</h2>

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          <td class="memname">void PID_Target_Set </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="struct_p_i_d.html">PID</a> *</td>          <td class="paramname"><span class="paramname"><em>pid</em></span>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>target</em></span>&#160;)</td>
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<p>Set target value for <a class="el" href="struct_p_i_d.html" title="Main PID controller structure">PID</a> controller </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in,out]</td><td class="paramname">pid</td><td>Pointer to <a class="el" href="struct_p_i_d.html" title="Main PID controller structure">PID</a> controller instance </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">target</td><td>Desired setpoint value </td></tr>
  </table>
  </dd>
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